Merge branch 'main' into fix-publish

Author: gonzalocasas

CHANGELOG.rst

@@ -13,6 +13,7 @@ Unreleased
 **Added**
 
 * Added support for attached and non-attached collision mesh visualization to the ``Robot Visualize`` GH component.
+* Added a prefix to all GH components.
 
 **Changed**
 
@@ -21,6 +22,7 @@ Unreleased
 **Fixed**
 
 * Fixed DH params for analytical IK solver of UR3e and UR10e.
+* Fixed Kinetic support on IK, FK, and motion planning calls.
 * Fixed ``Publish to topic`` Grasshopper component when the ``ros_client`` has been replaced (eg. disconnected and reconnected).
 
 **Deprecated**

src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py

@@ -87,6 +87,7 @@ def forward_kinematics_async(self, callback, errback,
             name=configuration.joint_names, position=configuration.joint_values, header=header)
         robot_state = RobotState(
             joint_state, MultiDOFJointState(header=header))
+        robot_state.filter_fields_for_distro(self.ros_client.ros_distro)
 
         def convert_to_frame(response):
             callback(response.pose_stamped[0].pose.frame)

src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py

@@ -109,6 +109,7 @@ def inverse_kinematics_async(self, callback, errback,
             name=start_configuration.joint_names, position=start_configuration.joint_values, header=header)
         start_state = RobotState(
             joint_state, MultiDOFJointState(header=header))
+        start_state.filter_fields_for_distro(self.ros_client.ros_distro)
 
         if options.get('attached_collision_meshes'):
             for acm in options['attached_collision_meshes']:

src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py

@@ -109,6 +109,7 @@ def plan_cartesian_motion_async(self, callback, errback,
                                  name=start_configuration.joint_names,
                                  position=start_configuration.joint_values)
         start_state = RobotState(joint_state, MultiDOFJointState(header=header), is_diff=True)
+        start_state.filter_fields_for_distro(self.ros_client.ros_distro)
 
         if options.get('attached_collision_meshes'):
             for acm in options['attached_collision_meshes']:

src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py

@@ -114,6 +114,7 @@ def plan_motion_async(self, callback, errback,
             position=start_configuration.joint_values)
         start_state = RobotState(
             joint_state, MultiDOFJointState(header=header), is_diff=True)
+        start_state.filter_fields_for_distro(self.ros_client.ros_distro)
 
         if options.get('attached_collision_meshes'):
             for acm in options['attached_collision_meshes']:

src/compas_fab/backends/ros/messages/moveit_msgs.py

@@ -189,6 +189,14 @@ def from_msg(cls, msg):
             item) for item in msg['attached_collision_objects']]
         return cls(joint_state, multi_dof_joint_state, attached_collision_objects, msg['is_diff'])
 
+    def filter_fields_for_distro(self, ros_distro):
+        """To maintain backwards compatibility with older ROS distros,
+        we need to make sure newly added fields are removed from the request."""
+        # Remove the field `pose` for distros older than NOETIC
+        if ros_distro in (RosDistro.KINETIC, RosDistro.MELODIC):
+            for aco in self.attached_collision_objects:
+                del aco.object.pose
+
 
 class PositionIKRequest(ROSmsg):
     """https://docs.ros.org/kinetic/api/moveit_msgs/html/msg/PositionIKRequest.html
@@ -539,6 +547,14 @@ def from_msg(cls, msg):
 
         return cls(collision_objects, octomap)
 
+    def filter_fields_for_distro(self, ros_distro):
+        """To maintain backwards compatibility with older ROS distros,
+        we need to make sure newly added fields are removed from the request."""
+        # Remove the field `pose` for distros older than NOETIC
+        if ros_distro in (RosDistro.KINETIC, RosDistro.MELODIC):
+            for co in self.collision_objects:
+                del co.pose
+
 
 class PlanningScene(ROSmsg):
     """https://docs.ros.org/melodic/api/moveit_msgs/html/msg/PlanningScene.html
@@ -568,11 +584,8 @@ def filter_fields_for_distro(self, ros_distro):
         """To maintain backwards compatibility with older ROS distros,
         we need to make sure newly added fields are removed from the request."""
         # Remove the field `pose` for distros older than NOETIC
-        if ros_distro in (RosDistro.KINETIC, RosDistro.MELODIC):
-            for aco in self.robot_state.attached_collision_objects:
-                del aco.object.pose
-            for co in self.world.collision_objects:
-                del co.pose
+        self.robot_state.filter_fields_for_distro(ros_distro)
+        self.world.filter_fields_for_distro(ros_distro)
 
     @classmethod
     def from_msg(cls, msg):

tasks.py

@@ -234,7 +234,16 @@ def build_ghuser_components(ctx, gh_io_folder=None, ironpython=None):
             if not ironpython:
                 ironpython = 'ipy'
 
-            ctx.run('{} {} {} {} --ghio "{}"'.format(ironpython, os.path.join(action_dir, 'componentize.py'), source_dir, target_dir, os.path.abspath(gh_io_folder)))
+            ctx.run(
+                '{} {} {} {} --ghio "{}" --prefix "{}"'.format(
+                    ironpython,
+                    os.path.join(action_dir, 'componentize.py'),
+                    source_dir,
+                    target_dir,
+                    os.path.abspath(gh_io_folder),
+                    "(COMPAS-FAB) "
+                )
+            )
 
 
 @task(help={